méxico tec de monterrey instituto de inv. eléctricas gustavo arroyo, pablo ibargüengoytia,...
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MéxicoTec de Monterrey
Instituto de Inv. Eléctricas
Gustavo Arroyo,
Pablo Ibargüengoytia,
Eduardo Morales,
L. Enrique Sucar
Reunión Elvira, Albacete 2002
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Elvira 2002 L. E. SUCAR 2
• Visión– Endoscopía– Reconocimiento de ademanes
• Aplicaciones industriales– Validación de sensores– Diagnóstico
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Elvira 2002 L. E. SUCAR 3
A “general” BN model for Vision
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Elvira 2002 L. E. SUCAR 4
Endoscopía
• Endoscopy is a tool for direct observation of the human digestive system
• Recognize “objects” in endoscopy images of the colon for semi-automatic navigation
• Main feature – dark regions
• Main objects – “lumen” & “diverticula”
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Elvira 2002 L. E. SUCAR 5
Colon Image
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Elvira 2002 L. E. SUCAR 6
Segmentation – dark region
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Elvira 2002 L. E. SUCAR 7
RB para endoscopía (parcial)
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Elvira 2002 L. E. SUCAR 8
Combinación de conocimiento y datos
• Mejora:– Se parte de una estructura dada por un experto
(subjetiva) y se mejora con datos– Por ejemplo, verificando relaciones de
independencia y alterando la estructura:• Eliminar nodos• Combinar nodos• Insertar nodos
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Elvira 2002 L. E. SUCAR 9
Mejora Estructural
YX
Z
X
Z
XY
Z W
Z
YX
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Elvira 2002 L. E. SUCAR 10
Semi-automatic Endoscope
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Elvira 2002 L. E. SUCAR 11
Endoscopy navegation system
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Elvira 2002 L. E. SUCAR 12
Endoscopy navegation system
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Elvira 2002 L. E. SUCAR 13
Human activity recognition
• Recognize different human activities based on videos (walk, run, goodbye, attention, etc.)
• Consider the movement of several limbs (arms, legs)
• The movements can differ for different persons or even for the same person
• Several activities can be performed at the same time
• Consider continuos activities
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Elvira 2002 L. E. SUCAR 14
Attention
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Elvira 2002 L. E. SUCAR 15
Goodbye – Right - Attention
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Elvira 2002 L. E. SUCAR 16
Feature extraction
• The color marks (for each limb) are segmented, with its position in each frame
• The directions of movement (discretized in 8 direction) are obtained for each image pair
• A window is used to obtain each sequence of changes (6), which are the observations for the recognition model – a Bayesian network
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Elvira 2002 L. E. SUCAR 17
Segmentation
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Elvira 2002 L. E. SUCAR 18
Recognition network
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Elvira 2002 L. E. SUCAR 19
Gesture recognition
• Recognize 5 dynamic gestures with the right hand
• The gestures are for commanding a mobile robot
• Recognition based on HMM
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Elvira 2002 L. E. SUCAR 20
Come
attention
go-right
go-left
stop
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Elvira 2002 L. E. SUCAR 21
Feature Extraction
• Skin detection
• Face and hand segmentation
• Hand tracking
• Motion features
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Elvira 2002 L. E. SUCAR 22
Segmentation
Radial scan forskin pixel detection
Segmentation by groupingskin pixels in the scan lines
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Elvira 2002 L. E. SUCAR 23
TrackingLocate face and hand based on antropometric measures
Track the hand by using the radial scansegmentation in region of interest
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Elvira 2002 L. E. SUCAR 24
Features• From each image we obtain the features:
– change in X (X)– change in Y (Y)– change in area (A)– change in size ratio (R)
• Each one is codified in 3 values: (+, 0, -)
X1,Y,1X2,Y2
A1 A2
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Elvira 2002 L. E. SUCAR 25
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Elvira 2002 L. E. SUCAR 26
St St+1 St+2
DBN for gesture recognition
A
T T+1 T+2
SX,Y A SX,Y A SX,Y
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Elvira 2002 L. E. SUCAR 27
Training and Recognition
• The parameters (conditional probabilities) for the DBN are obtained from examples of each gesture using the EM algorithm (similar to Baum-Welch used in HMM)
• For recognition, the posterior probability of each model is obtained by probability propagation (forward)
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Elvira 2002 L. E. SUCAR 28
Preliminary Results• Correct recognition:
– come 100 %– attention 66.2 %– stop 68.26 %– go-right 99.25 %– go-left 100 %– average 86%
• Parameter reduction:– HMM: 81 per state– DBN: 15 per state
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Elvira 2002 L. E. SUCAR 29
Probabilistic - Logic Networks
• Logic Nodes - logic programs
• Probabilistic Nodes - Bayesian networks
W V
X Y
Z
Z:binary-
relation (X,Y)multi-valued -
relation(X,Y,Z)
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Elvira 2002 L. E. SUCAR 30
Inference• Probability of Z depends on values of X and
Y and if R is satisfied:
P(Z) = R(x,y) P(x) P(y)• Reasoning
– off-line: compute the CPT for all values of X and Y (discrete variables with few values) - deterministic node P(Z | X, Y)
– on-line: evaluate during propagation• discrete: compute summation for unknowns • continuos: sampling techniques
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Elvira 2002 L. E. SUCAR 31
Gesture Recognition
• Based on relations between the different parts of the arm (hand, elbow, shoulder)
• These relations are expressed as logic nodes in a dynamic logic-probabilisic network
• The model is used for gesture recognition via probability propagation
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Elvira 2002 L. E. SUCAR 32
Model
S
Xh Xe
Rhe
Xs
Res
S
Xh
Rhe
Xe Xs
Res
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Elvira 2002 L. E. SUCAR 33
Validación de sensores
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Elvira 2002 L. E. SUCAR 34
Detection network
dp: position demand fuel valve
pr: real fuel valve position
da: position demand IGVs
pa: real IGV position
ps: gas fuel pressure supply
fg: flow of gas
ga: flow of air
t: temperature
p: pressure
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Elvira 2002 L. E. SUCAR 35
Detection Algorithm:
For all nodes:• Instantiate all nodes except one of the nodes
(Ci)• Propagate probabilities and obtain a posterior
probability distribution of Ci
• Read real value of variable represented by Ci
• If P(real value) pvalue then return(ok) else return(faulty)
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Elvira 2002 L. E. SUCAR 36
Isolation Network Construction
• Markov blanket (MB): set of variables that makes a variable independent from the others
• EMB(n) = MB(n) + n• A faulty node affects only its EMB• Faults outside the EMB of a node do not affect the
value of the node• The isolation network relates real and apparent
faults: A real fault in a node causes apparent faults in all its EMB
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Elvira 2002 L. E. SUCAR 37
Isolation network
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Elvira 2002 L. E. SUCAR 38
Isolation Algorithm
• Instantiate the apparent fault node corresponding to Ci in the isolation network
• Propagate probabilities and obtain a posterior probability of all Real fault nodes
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Red Temporal
para Diagnóstico de Plantas Eléctricas
Red Temporal
para Diagnóstico de Plantas Eléctricas
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Subsistema de una Planta Eléctrica
DRUM
S U P E R H E A T E R S T E A M S Y S T E M
F E E D W A T E R S Y S T E M C O N D E N S E R S Y S T E M
W A T E R - S T E A MG E N E R A T O RS Y S T E M
S T E A M - T U R B I N E S Y S T E M
R E H E A T E RS T E A M S Y S T E M
F E E D A T E R P U M P
F E E D A T E R V A L V E
S P R A Y V A L V E P S T E A M V A L V E
T R U B I N E
S T F
S T T
D R PF
S W F
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Elvira 2002 L. E. SUCAR 41
Nodo Temporal
• Nodo que representa un “evento” o cambio de estado de una variable de estado
• Sus valores corresponden a diferentes intervalos de tiempo en que ocurre el cambio
• Ejemplo:– Nodo: incremento de nivel– Valores (3):
• Cambio 0 - 10• Cambio 10 - 50• No cambio
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Red bayesiana con nodos temporales
FWF
FWPF LI
SWVF
SWV
SWF
FWVF
FWV FWP STV
STF
DRL
DRP
STT
FWPFOccur 0.58¬Occur 0.42
LIOccur 0.88¬Occur 0.12
FWVFOccur 0.57¬Occur 0.43
SWVFOccur 0.18¬Occur 0.82
FWPtrue, [10-29] = 0.36true, [29-107] = 0.57false, [10-107] = 0.07
STVTrue, [0-18] = 0.69True, [18-29] = 0.20False, [0-29] = 0.11
STFTrue, [52-72] = 0.65True, [72-105] = 0.24False, [52-105] = 0.11
FWVTrue, [28-41] = 0.30True, [41-66] = 0.27False, [28-66] = 0.43
SWVTrue, [20-33] = 0.11True, [33-58] = 0.13False, [20-58] = 0.76
FWFTrue, [25-114] = 0.77True, [114-248] = 0.18False, [25-248] = 0.05
SWFTrue, [108-170] = 0.75True, [170-232] = 0.21False, [108-232] = 0.04
STTDecrement, [10-42] = 0.37Decrement, [42-100] = 0.14Decrement, [100-272] = 0.47False, [10-272] = 0.02
DRPTrue, [30-70] = 0.58True, [70-96] = 0.40False, [30-96] = 0.02
DRLIncrement, [10-27] = 0.49Increment, [27-135] = 0.09Decrement, [22-37] = 0.28Decrement [37-44] = 0.12False, [10-135] = 0.02
Variables
LI=Load increment
FWPF=FW pump failure
FWVF=FW valve failure
SWVF=SW valve failure
STV=Steam valve
FWP=FW pump
FWV=FW valve
SWV=SW valve
STF=Steam flow
FWF=FW flow
SWF=SW flow
DRL=Drum level
DRP=Drum pressure
STT=Steam temperature